mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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RC input system that uses libraries/AP_RCProtocol with UART based inputs
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with either SBUS protocol or 115200 based protocols (or both)
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
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namespace Linux {
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class RCInput_RCProtocol : public RCInput {
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public:
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RCInput_RCProtocol(const char *dev_sbus, const char *dev_115200);
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void init() override;
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void _timer_tick(void) override;
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private:
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int open_sbus(const char *path);
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int open_115200(const char *path);
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const char *dev_inverted;
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const char *dev_115200;
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int fd_inverted;
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int fd_115200;
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uint32_t last_frame_ms;
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bool inverted_is_115200;
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};
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};
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#endif
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